Admittance selection for force-guided assembly of polyhedral parts in single-point contact

Abstract

The selection of the proper admittance is important in achieving force-guided assembly. This paper identifies procedures for selecting the appropriate spatial admittance to achieve reliable force-guided assembly of polyhedral parts for single-point frictionless contact cases. Sets of conditions that are imposed on the admittance matrix for different types… (More)
DOI: 10.1109/ROBOT.2004.1308807

4 Figures and Tables

Topics

  • Presentations referencing similar topics